#include <sampling_problem.h>

Inheritance diagram for exotica::SamplingProblem:

Collaboration diagram for exotica::SamplingProblem:

Public Member Functions
	SamplingProblem ()

virtual	~SamplingProblem ()

void	Instantiate (const SamplingProblemInitializer &init) override

void	Update (Eigen::VectorXdRefConst x)

bool	IsStateValid (Eigen::VectorXdRefConst x)

bool	IsValid () override
	Evaluates whether the problem is valid. More...

void	PreUpdate () override

int	GetSpaceDim ()

void	SetGoalEQ (const std::string &task_name, Eigen::VectorXdRefConst goal)

Eigen::VectorXd	GetGoalEQ (const std::string &task_name)

void	SetRhoEQ (const std::string &task_name, const double &rho)

double	GetRhoEQ (const std::string &task_name)

void	SetGoalNEQ (const std::string &task_name, Eigen::VectorXdRefConst goal)

Eigen::VectorXd	GetGoalNEQ (const std::string &task_name)

void	SetRhoNEQ (const std::string &task_name, const double &rho)

double	GetRhoNEQ (const std::string &task_name)

std::vector< double >	GetBounds ()

bool	IsCompoundStateSpace ()

void	SetGoalState (Eigen::VectorXdRefConst qT)

const Eigen::VectorXd &	GetGoalState () const

Public Member Functions inherited from exotica::PlanningProblem
	PlanningProblem ()

virtual	~PlanningProblem ()

void	InstantiateBase (const Initializer &init) override

TaskMapMap &	GetTaskMaps ()

TaskMapVec &	GetTasks ()

ScenePtr	GetScene () const

std::string	Print (const std::string &prepend) const override

void	SetStartState (Eigen::VectorXdRefConst x)

Eigen::VectorXd	GetStartState () const

virtual Eigen::VectorXd	ApplyStartState (bool update_traj=true)

void	SetStartTime (double t)

double	GetStartTime () const

unsigned int	GetNumberOfProblemUpdates () const

void	ResetNumberOfProblemUpdates ()

std::pair< std::vector< double >, std::vector< double > >	GetCostEvolution () const

int	GetNumberOfIterations () const

double	GetCostEvolution (int index) const

void	ResetCostEvolution (size_t size)

void	SetCostEvolution (int index, double value)

KinematicRequestFlags	GetFlags () const

int	get_num_positions () const
	! Dimension of planning problem. TODO: Update from positions/velocities/controls and make private. More...

int	get_num_velocities () const

int	get_num_controls () const

Public Member Functions inherited from exotica::Object
	Object ()

virtual	~Object ()

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

virtual std::vector< Initializer >	GetAllTemplates () const =0

Public Member Functions inherited from exotica::Instantiable< SamplingProblemInitializer >
void	InstantiateInternal (const Initializer &init) override

Initializer	GetInitializerTemplate () override

std::vector< Initializer >	GetAllTemplates () const override

const SamplingProblemInitializer &	GetParameters () const

Public Attributes
TaskSpaceVector	Phi

SamplingTask	inequality

SamplingTask	equality

int	length_Phi

int	length_jacobian

int	num_tasks

Public Attributes inherited from exotica::PlanningProblem
double	t_start

TerminationCriterion	termination_criterion

int	N = 0

Public Attributes inherited from exotica::Object
std::string	ns_

std::string	object_name_

bool	debug_

Private Attributes
Eigen::VectorXd	goal_

bool	compound_

Additional Inherited Members
Protected Member Functions inherited from exotica::PlanningProblem
void	UpdateTaskKinematics (std::shared_ptr< KinematicResponse > response)

void	UpdateMultipleTaskKinematics (std::vector< std::shared_ptr< KinematicResponse >> responses)

Protected Attributes inherited from exotica::PlanningProblem
ScenePtr	scene_

TaskMapMap	task_maps_

TaskMapVec	tasks_

KinematicRequestFlags	flags_ = KinematicRequestFlags::KIN_FK

Eigen::VectorXd	start_state_

unsigned int	number_of_problem_updates_ = 0

std::vector< std::pair< std::chrono::high_resolution_clock::time_point, double > >	cost_evolution_

Protected Attributes inherited from exotica::Instantiable< SamplingProblemInitializer >
SamplingProblemInitializer	parameters_

Constructor & Destructor Documentation

◆ SamplingProblem()

exotica::SamplingProblem::SamplingProblem ( )

◆ ~SamplingProblem()

virtual exotica::SamplingProblem::~SamplingProblem ( )

virtual

Member Function Documentation

◆ GetBounds()

std::vector<double> exotica::SamplingProblem::GetBounds ( )

◆ GetGoalEQ()

Eigen::VectorXd exotica::SamplingProblem::GetGoalEQ ( const std::string & task_name )

◆ GetGoalNEQ()

Eigen::VectorXd exotica::SamplingProblem::GetGoalNEQ ( const std::string & task_name )

◆ GetGoalState()

const Eigen::VectorXd& exotica::SamplingProblem::GetGoalState ( ) const

inline

◆ GetRhoEQ()

double exotica::SamplingProblem::GetRhoEQ ( const std::string & task_name )

◆ GetRhoNEQ()

double exotica::SamplingProblem::GetRhoNEQ ( const std::string & task_name )

◆ GetSpaceDim()

int exotica::SamplingProblem::GetSpaceDim ( )

◆ Instantiate()

void exotica::SamplingProblem::Instantiate ( const SamplingProblemInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< SamplingProblemInitializer >.

◆ IsCompoundStateSpace()

bool exotica::SamplingProblem::IsCompoundStateSpace ( )

◆ IsStateValid()

bool exotica::SamplingProblem::IsStateValid ( Eigen::VectorXdRefConst x )

◆ IsValid()

bool exotica::SamplingProblem::IsValid ( )

overridevirtual

Evaluates whether the problem is valid.

Reimplemented from exotica::PlanningProblem.

◆ PreUpdate()

void exotica::SamplingProblem::PreUpdate ( )

overridevirtual

Reimplemented from exotica::PlanningProblem.

◆ SetGoalEQ()

void exotica::SamplingProblem::SetGoalEQ	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

◆ SetGoalNEQ()

void exotica::SamplingProblem::SetGoalNEQ	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

◆ SetGoalState()

void exotica::SamplingProblem::SetGoalState ( Eigen::VectorXdRefConst qT )

◆ SetRhoEQ()

void exotica::SamplingProblem::SetRhoEQ	(	const std::string &	task_name,
		const double &	rho
	)

◆ SetRhoNEQ()

void exotica::SamplingProblem::SetRhoNEQ	(	const std::string &	task_name,
		const double &	rho
	)

◆ Update()

void exotica::SamplingProblem::Update ( Eigen::VectorXdRefConst x )

Member Data Documentation

◆ compound_

bool exotica::SamplingProblem::compound_

private

◆ equality

SamplingTask exotica::SamplingProblem::equality

◆ goal_

Eigen::VectorXd exotica::SamplingProblem::goal_

private

◆ inequality

SamplingTask exotica::SamplingProblem::inequality

◆ length_jacobian

int exotica::SamplingProblem::length_jacobian

◆ length_Phi

int exotica::SamplingProblem::length_Phi

◆ num_tasks

int exotica::SamplingProblem::num_tasks

◆ Phi

TaskSpaceVector exotica::SamplingProblem::Phi

The documentation for this class was generated from the following file:

/tmp/exotica/exotica_core/include/exotica_core/problems/sampling_problem.h

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ SamplingProblem()

◆ ~SamplingProblem()

Member Function Documentation

◆ GetBounds()

◆ GetGoalEQ()

◆ GetGoalNEQ()

◆ GetGoalState()

◆ GetRhoEQ()

◆ GetRhoNEQ()

◆ GetSpaceDim()

◆ Instantiate()

◆ IsCompoundStateSpace()

◆ IsStateValid()

◆ IsValid()

◆ PreUpdate()

◆ SetGoalEQ()

◆ SetGoalNEQ()

◆ SetGoalState()

◆ SetRhoEQ()

◆ SetRhoNEQ()

◆ Update()

Member Data Documentation

◆ compound_

◆ equality

◆ goal_

◆ inequality

◆ length_jacobian

◆ length_Phi

◆ num_tasks

◆ Phi